Class OptimoveLPrimitive

• Defined in File motion_primitives.h

Inheritance Relationships

Base Type

• public urcl::control::MotionPrimitiveWithTarget (Class MotionPrimitiveWithTarget)

Class Documentation

class OptimoveLPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

OptimoveLPrimitive(const urcl::Pose &target, const double blend_radius = 0, const double acceleration_fraction = 0.3, const double velocity_fraction = 0.3)

OptimoveLPrimitive(const MotionTarget &target, const double blend_radius = 0, const double acceleration_fraction = 0.3, const double velocity_fraction = 0.3)

Construct an OptimoveL primitive from a urcl::MotionTarget.

A urcl::Pose selects MotionType::OPTIMOVEL, a urcl::Q selects MotionType::OPTIMOVEL_JOINT.

~OptimoveLPrimitive() override

virtual void setTarget(const MotionTarget &target) override

virtual bool validate() const override

Public Members

urcl::Pose target_pose = {}